This section provides simulation results using 4 identical UR5 robotic manipulators in the realistic dynamic environment V-REP [1]}. The agents are rigidly grasping an object of 40 kg as shown in Fig. REF . In order to verify the findings of the previous sections, we apply the controller (REF ) to achieve tracking of a desired trajectory by the object's center of mass. We simulate the closed loop system for two cases of \(G^\ast \) , namely the proposed one \(G^\ast _1 = MG^\top (GMG^\top )^{-1}\)  as well as the more standard choice \(G^\ast _2 = G^\top (GG^\top )^{-1}\) , showing the validity of Coroll. REF  and REF .
